Nonparametric identification of robot flexible joint space manipulator

We consider a flexible joint two-link flexible joint space manipulator. Manipulator dynamics is derived from Euler-Lagrange formulation. The joint dynamics includes non-linear stiffness and friction components. A simplified model of the manipulator is represented by a Hammerstein model consisting of a memoryless nonlinearity followed by a dynamic, linear system. Parametric and nonparametric identification algorithms are proposed for identifying parameters of the linear and nonlinear models, respectively from input-output observations of the Hammerstein system. Convergence and the rates of identification algorithm of the static nonlinearity are also discussed.